CN101612926A - Side based on sonac is hit sensing system - Google Patents
Side based on sonac is hit sensing system Download PDFInfo
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- CN101612926A CN101612926A CN200910149015A CN200910149015A CN101612926A CN 101612926 A CN101612926 A CN 101612926A CN 200910149015 A CN200910149015 A CN 200910149015A CN 200910149015 A CN200910149015 A CN 200910149015A CN 101612926 A CN101612926 A CN 101612926A
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- sonac
- vehicle
- impacting body
- body object
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0006—Lateral collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0011—Rear collision or recoiling bounce after frontal collision
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Air Bags (AREA)
Abstract
The invention provides a kind of side of at least one sonac of using and hit the threat estimating system.A kind of method that detects side-impact collision possible on the main vehicle also is provided.This method requires to use at least one sonac, to be used for the appearance detection and to be used to provide the estimation close velocity employed sensed data.
Description
Technical field
The disclosure relates to the preceding sensing system of collision of power actuated vehicle, and this system uses sonac.
Background technology
The automaker is studying based on sensing system before the collision of radar, laser radar and vision and is improving passenger safety.Before the collision sensing system by the collision initial stage or even before reality bump scheduling passive bound device, be considered to have the potentiality that improve passenger safety.Extra like this time allows more alerting abilitys of element design and can allow for the passenger and crash scenario is made the passive bound system individually.
The preceding sensing system of existing collision has it and is difficult to make described system to adapt to the challenge that side is hit application.For example vision and radar system are relatively costly and because space constraint is difficult to installation.In addition, also have challenge for the existing system that blind spot detects and lane change is auxiliary, this is because the sensor coverage that is used in those systems is limited.Especially, the sensor in those systems is suitable for detecting on the contiguous track automobile and the truck towards vehicle rear.It is not enough that such coverage is hit application for side, because most side-impact collision is to be caused by the vehicle from side the place ahead.
Hit sensing system about side and have other challenges.Particularly, because often there is vehicle to exercise on the contiguous track, hits in side and be difficult to avoid false alarm certainly in the sensing system.
And most of side-impact collisions that the analysis showed that in american car sampling system (NASS) casualty data storehouse take place when travelling with the speed that is lower than 40 kilometer per hours at main vehicle (host vehicle).In fact, comprise that nineteen ninety-five shows that to this NASS database analysis of 2007 annual datas 62% side-impact collision takes place when main vehicle travels with the speed that is lower than 40 kilometer per hours.
Therefore, expectation provides a kind of side to hit sensing system, and its appearance to possible side-impact collision impacting body provides accurate and determines.Also expectation provides a kind of relatively inexpensive and can relatively easily merge in the existing vehicle and be attached to system in the existing system.Also expectation provides a kind of system that can detect possible side-impact collision when main vehicle travels with the speed that is lower than about 40 kilometer per hours.
Summary of the invention
Provide to small part and solved the one or more demands that existing system and method do not solve or the system and method for expectation.
Particularly, provide the side that is used for vehicle to hit the threat estimating system.This system comprises at least one sonac that is installed on the every side of vehicle.Each sensor all has nonoverlapping basically relative to each other overlay area.In addition, each sensor all can detect the appearance of impacting body.This system also comprises the controller that is connected to each sonac, and this controller is configured to calculate the close velocity of the estimation of impacting body object.
The method that detects side-impact collision possible on the main vehicle is provided.This method comprises the step of using at least one sonac that is installed on main vehicle one side to come sensing impacting body object to occur.This method also comprises the step of using the controller that is connected to sonac to calculate the close velocity of estimation.In addition, this method comprises at least the step that determines whether the bound control module on pre-equipment (pre-arm) vehicle based on the close velocity to the detection that occurs and estimation.
These and other embodiment will become after reading the application and appended claim and obviously easily see, and not deviate from category of the present invention and the spirit that claim limits.
Description of drawings
Fig. 1 is exemplary main vehicle, and this main vehicle has the exemplary side based on sonac and hits sensing system.
Fig. 2 is the exemplary algorithm logic that is used for hitting based on the side of sonac sensing system.
The specific embodiment
Sonac is commercial extensively available, and than being used for cheap many of sensor based on the system of radar, laser radar or vision.Known sonac has robustness to multiple environmental conditions.Yet the above air-flow noise of certain threshold value can influence the performance of sonac.Recently the technology of exploitation can make sonac have more robustness in this respect, as the current noise cancellation technique that gets.Even in current sonac, considered sensitieness to air-flow noise, only in the situation when main vehicle moves with the speed that is lower than 50 kilometer per hours or be lower than 45 kilometer per hours or be lower than 40 kilometer per hours, it is useful hitting sensing system based on ultrasonic side.Expect that the side based on sonac disclosed herein hits sensing system and can replenish but not replace collision back sensing system.
The reference of accompanying drawing and example is intended to explanation and unrestricted.Fig. 1 shows the example system of hitting sensing system based on the side of sonac.Fig. 2 shows the example logic of using with this system.
With reference to figure 1, main vehicle 10 has four sonacs mounted thereto 20.As shown in the figure, two sonacs 20 are positioned on first side of main vehicle 10, and two sonacs 20 are positioned on second side of main vehicle 10.As shown in the figure, a sonac 20 on first side outwards is installed on the Qianmen, and a sonac 20 outwards is installed on the back door on first side.Similarly, a sonac 20 is installed on the Qianmen of second side, and a sonac is installed on the back door of second side.Replacedly, sonac 20 can be installed on any suitable side structure, and as rocking bar, lateral column and rear side coaming plate are as long as sonac 20 fully separates each other to cover the surveyed area of broad.Can use any known machinery or chemical installation or connecting device or method that sonac 20 is installed on the main vehicle 10.
Each sonac 20 has the sensing range 21 that extends from this sonac 20.Sensing range 21 can be configured to detect apart from sonac 20 and reach 5 meters or reach 3 meters object apart from sonac 20, or the object of suitable commercial any other scope of using of determining of automaker.Describe sound wave among Fig. 1 and represented exemplary range 21.
Locating a plurality of sides hits sonac 20 and makes that the sensing range 21 of a sensor 20 can or basically can be not overlapping with the sensing range 21 of another sensor 20.In addition, sonac 20 navigates to enough eminences avoiding the detection of ground and ground echo, simultaneously bumper/spoiler that still can sensing impacting body vehicle.
With reference to figure 1, side is hit sonac 20 and is incorporated in the existing ultrasonic system.Just, sonac 20 can use but not require the independently ultrasonic ECU 30 of use; But sonac 20 can be connected to the existing ultrasonic ECU 30 in the main vehicle 10 or communicate with.For example, use the back reversing aid system (back-up aid system) of sonac 40 to hit sonac 20 shared ultrasonic ECU 30 with side.
Ultrasonic ECU 30 is connected to bound control module (RCM) 50 or communicates with, thereby this bound control module is controlled described logic based on pre-equipment of multiple input and final scheduling passive safety feature 78, as air bag, and safety strap etc.As is known, the active safety controller 60 that is used to control active safety feature 78 is also communicated by letter with ultrasonic ECU 30 with RCM 50.
Sonac 20 can be used for detecting the many dissimilar impacting body object that can cause side-impact collision.Two kinds of non-restrictive example classification of impacting body object have been described: vehicle and columnar object here.The vehicle object comprises that automobile, truck, snowmobile and other can clash into the mobile object of automobile.Columnar object comprises usually than the remarkable narrow fixed object of vehicle.The common height over width of columnar object is big.Example comprises tree, phone post, street sign, cylinder and important actor.
Many algorithms of different can be hit use together with the side that detection relates to the impacting body vehicle.In an exemplary algorithm, two sonacs 20 are positioned at the same side of main vehicle 10, and two sonacs 20 must detect the appearance of impacting body vehicle.Ultrasonic then ECU 30 uses from the sensed data of sonac 20 and uses known algorithm to calculate close velocity.If close velocity surpasses predetermined threshold, then ultrasonic ECU 30 can communicate by letter with RCM 50, makes RCM 50 to determine quickly with regard to whether dispatching air bag etc.This is because RCM50 can make constrained system scheduling decision based on the pressure sensor and/or the accelerometer that are installed on the vehicle side or near the vehicle side that sensing and being used to before the collision collides the back sensing, and need not to wait for the affirmation from being implemented in the long-range RCM acceleration pick-up in the collision rear side collision sense system.This can reduce RCM makes side and hits the required time quantum of scheduling decision, and this time quantum is the 6-10 millisecond under the situation of not hitting system based on the side of sonac, is the 2-3 millisecond and have under the situation of such system.In other words, this response time can reduce about 3 milliseconds to about 8 milliseconds.
Alternatively, this algorithm can be by sequencing, so that when main vehicle 10 travelled as 40 kilometer per hours to surpass certain speed, RCM 50 can not make pre-equipment (pre-armament) decision via the system that hits based on the side of sonac.When such logic is included among the RCM 50 and main vehicle 10 when travelling with the speed more than the predetermined threshold, then collision system will be dispatched side air bag etc. behind the bump of preexist, as hitting in the system based on the side of sonac.
Many different algorithms can hit use together with the side that detection relates to the impacting body columnar object.In an exemplary algorithm, only a sonac 20 is required the sensing columnar object.This is because the columnar object character thin with respect to vehicle.Institute's sensed data is used to use known algorithm to calculate close velocity by ECU 30 then.Close velocity in the column bump situation is lower than the close velocity in the Vehicular impact system usually, and therefore allowing more time is used for the ultrasonic signal analysis.If main vehicle 10 is towards the columnar object slippage then it has cross velocity usually.The cross velocity of main vehicle 10 can be by the vehicle active safety sensing system sensing that cross velocity is conveyed to RCM 50.If close velocity and cross velocity are all at certain more than the threshold value, then RCM 50 can equip constrained system in advance, and therefore makes scheduling decision faster.
With reference to figure 2, it shows the sampling logic that is used for the preceding sensing system of left side (LS) ultrasonic side-impact collision.Similarly logic can be used for right side (RS) application.Step 100 is initial points that ultrasonic side is hit algorithm.Step 102 estimates whether to have opened ignition device (ignition).If no, then detection side is not hit, shown in step 104.If opened ignition device, then step 106 estimates whether main vehicle surpasses 40 kilometer per hours and move.If surpass, then can not use the sonac detection side to hit, shown in step 104.In step 108, if being lower than 40 kilometer per hours, moves by main vehicle, then sonac LS1 and sonac LS2 begin to launch sound wave.In step 110, measure the echo time of return from sonac.In step 112, calculate and mapping object scope and close velocity.If with interior any impacting body object arranged, in step 114, consider that the appointment that then is made at main vehicle left side in step 118 is near the decision that has the impacting body object in the scope at 2 meters.If in 2 meters scopes, do not have object, then there is not object and do not detect the decision that condition is hit in the collision front side near scope, shown in step 104 in appointment that step 116 is made at main vehicle left side.
If step 118 identifies impacting body, and step 120 determines that impacting body is that a plurality of hits (hits) are followed the trail of, then step 122 beginning impacting body size estimation process.In step 124, determine whether sonac LS1 and LS2 have all detected the impacting body object.If no, then in step 126, defer to the impacting body logic of " based on cylinder ".If have, then in step 128, defer to the bump logic of " based on vehicle ".
In step 126, defer to logic based on cylinder, determine which sonac has detected the impacting body object, in step 130, which sensor to have arrived the impacting body object according to and broadcasted then.In step 134, determine that whether close velocity between main vehicle and the impacting body object is greater than 16 kilometer per hours.If not, then do not detect the collision front side and hit condition, shown in step 136.If then step 160 begins a process, this process determines from the main vehicle lateral speed of vehicle active safety sensing system whether main vehicle has the side travel towards the impacting body object by monitoring.If have, then in step 162, determine that the predetermined threshold whether main vehicle surpasses cross velocity travels.If do not surpass, then do not detect the collision front side and hit condition, shown in step 136.If reach the cross velocity threshold value, then in step 164, detection may be collided with the column impacting body, and broadcasts in step 166.In step 200, determine to detect possible column side and hit, and RCM correspondingly equips this constrained system or a plurality of system in advance.If utilize bump back sensor not confirm that the side of predicting hits in the given time, then in step 210, system reinitializes and control are transferred to step 100 and hit detection process to restart side.
Defer to the logic based on vehicle, after two sonacs all detected the impacting body vehicle, step 128 required to cover this side of main vehicle comprehensively, and reacted the broadcasting of this situation in step 132.In step 138, measure the impacting body close velocity then.Condition is not hit in the front side if the impacting body close velocity below 16 kilometer per hours, then detects collision, shown in step 136.If close velocity surpasses 16 kilometer per hours, then step 140 begins a process, and this process determines that by using vehicle active safety sensing system to monitor main vehicle lateral speed whether main vehicle is towards the slippage of impacting body object.If slippage, then step 142 requires to determine whether main vehicle travels with the cross velocity more than the predetermined threshold in a lateral direction.If then step 144 requires to prepare for the large tracts of land side condition of hitting with slippage, and the broadcasting that is associated of step 146.After broadcasting, step 200 makes RCM equip suitable system or a plurality of system in advance.If utilize bump back sensor not confirm that the side of being predicted hits within the predetermined time, then in step 210, system reinitializes and control are transferred to step 100 and hit detection process to restart side.
If main vehicle does not have in a lateral direction to travel with the cross velocity that surpasses predetermined threshold, then step 148 requires to prepare for the large tracts of land side condition of hitting with mobile impacting body, and the broadcasting that is associated of step 150.After broadcasting, step 200 makes suitable system or a plurality of system of the pre-equipment of RCM.If utilize bump back crash sensor not confirm that the side of predicting hits in the given time, then in step 210, system reinitializes and control are transferred to step 100 and hit detection process to restart side.
Certain threshold level shown in Fig. 2 and logic only are exemplary, and to be subjected to particular automobile maker be the restriction of the design alternative of application-specific.Fig. 2 is not in order to limit the present invention.
Though described at least one embodiment of claims in the specification sheets, those skilled in the art recognize that used speech is illustrative speech rather than restrictive speech.The category of the present invention and the spirit of claim qualification be can not deviate from and many variations and modification made.
Claims (12)
1. a side that is used for vehicle is hit the threat estimating system, comprising:
(a) at least one sonac of on each side of described vehicle, installing;
Each described sensor has relative to each other nonoverlapping basically overlay area; Each described sensor can detect the appearance of impacting body object; And
(b) be connected to the controller of each sonac, described controller is configured to calculate the close velocity of estimation.
2. system according to claim 1, wherein, each described sonac is configured to detect when described detecting sensor reaches about 5 meters at described impacting body object the described appearance of described impacting body object.
3. system according to claim 1, wherein, described system communicates with the bound control module that is used for controlling constrained system.
4. system according to claim 3, described system is suitable for, at least two described sonacs in the same side that is positioned at described vehicle detect described impacting body object, and the close velocity of described estimation is when predetermined threshold value is above, utilize described bound control module to equip described constrained system in advance, thus eliminated described vehicle when travelling less than the speed of about 40 kilometer per hours before the scheduling side is hit protective system to needs from the affirmation of the long-range bound control module acceleration pick-up in the collision sense system of bump back.
5. system according to claim 3, described system is suitable for, detect described impacting body object at least two described sonacs, and the close velocity of described estimation is when predetermined threshold value is above, utilize described bound control module to equip described constrained system in advance, determine whether to dispatch side and hit the required time period of protective system thereby reduced described bound control module.
6. system according to claim 5, wherein, the described time period reduces about 3 milliseconds to about 8 milliseconds.
7. system according to claim 5, wherein, described side is hit protective system and is comprised air bag.
8. system according to claim 1, wherein, described impacting body object is a columnar object.
9. system according to claim 8, described system is suitable for, detect described columnar object at a described sonac, and the close velocity of described estimation is more than predetermined threshold value, and the cross velocity of described main vehicle utilizes described bound control module to equip described constrained system in advance when predetermined threshold value is above.
10. a detection comprises the method for the possible side-impact collision of main vehicle:
(a) utilize the appearance of at least one the sonac sensing impacting body object on a side of described main vehicle, install;
(b) utilize the controller that is connected to described at least one sonac to calculate the close velocity of estimating; And
(c) at least based on the close velocity that occurs detecting and estimating, determine whether to utilize the described bound control module of described vehicle to equip constrained system in advance.
11. method according to claim 10, wherein, described impacting body object is a vehicle.
12. method according to claim 10, wherein, described impacting body object is a columnar object.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/145,642 US8014921B2 (en) | 2008-06-25 | 2008-06-25 | Ultrasonic sensor-based side impact sensing system |
| US12/145,642 | 2008-06-25 |
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| Publication Number | Publication Date |
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| CN101612926A true CN101612926A (en) | 2009-12-30 |
| CN101612926B CN101612926B (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910149015.3A Expired - Fee Related CN101612926B (en) | 2008-06-25 | 2009-06-11 | Ultrasonic sensor-based side impact sensing system |
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| US (1) | US8014921B2 (en) |
| CN (1) | CN101612926B (en) |
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| CN103101534A (en) * | 2011-11-11 | 2013-05-15 | 沃尔沃汽车公司 | Vehicle safety system and method |
| CN104797466A (en) * | 2012-11-20 | 2015-07-22 | 罗伯特·博世有限公司 | Device and vehicle with tilt compensation for an environment sensor |
| CN106199614A (en) * | 2015-05-29 | 2016-12-07 | 罗伯特·博世有限公司 | For the method and apparatus detecting the object in vehicle-periphery |
| CN108657102A (en) * | 2017-04-01 | 2018-10-16 | 上海汽车集团股份有限公司 | A kind of vehicle safety method, system and running crane control device |
| CN109424899A (en) * | 2017-09-01 | 2019-03-05 | 株式会社小糸制作所 | Illuminator for vehicle |
| CN112074756A (en) * | 2018-05-02 | 2020-12-11 | 罗伯特·博世有限公司 | Method and device for operating an ultrasonic sensor of a vehicle |
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| JP5329194B2 (en) * | 2008-12-09 | 2013-10-30 | タカタ株式会社 | Collision determination system, occupant restraint system, vehicle |
| US8527151B2 (en) * | 2009-12-07 | 2013-09-03 | Ford Global Technologies, Llc | Side impact safety system with blind-spot detection radar data fusion |
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| DE102012106691A1 (en) * | 2012-07-24 | 2014-01-30 | Valeo Schalter Und Sensoren Gmbh | Alternative installation of a hidden ultrasonic sensor in the motor vehicle |
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| US10393873B2 (en) | 2017-10-02 | 2019-08-27 | Ford Global Technologies, Llc | Adaptive mitigation of ultrasonic emission in vehicular object detection systems |
| US10460581B1 (en) * | 2019-05-15 | 2019-10-29 | Cognitive Systems Corp. | Determining a confidence for a motion zone identified as a location of motion for motion detected by wireless signals |
| US20230294785A1 (en) * | 2020-07-18 | 2023-09-21 | Tvs Motor Company Limited | Blind spot detection system |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20090326764A1 (en) | 2009-12-31 |
| CN101612926B (en) | 2014-07-02 |
| US8014921B2 (en) | 2011-09-06 |
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